26 #ifndef __SEGWAYRMP400_H_
27 #define __SEGWAYRMP400_H_
34 #if !defined (WIN32) || defined (__MINGW32__)
38 #include <netinet/in.h>
41 #include <libplayercore/playercore.h>
73 player_position2d_data_t rmp2d_data[2];
74 player_position3d_data_t rmp3d_data[2];
76 player_position2d_data_t position2d_data;
77 player_position2d_cmd_vel_t position2d_cmd;
79 player_position3d_data_t position3d_data;
80 player_position3d_cmd_vel_t position3d_cmd;
103 bool newfront3d, newback3d, newfront2d, newback2d;
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: segwayrmp400.cc:247
virtual int Subscribe(player_devaddr_t addr)
Subscribe to this driver.
virtual void Publish(player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
Publish a message via one of this driver's interfaces.
SegwayRMP400(ConfigFile *cf, int section)
Definition: segwayrmp400.cc:116
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:159
int AddInterface(player_devaddr_t addr)
Add an interface.
int ProcessMessage(QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
Message handler.
Definition: segwayrmp400.cc:292
Generic message header.
Definition: player.h:162
void Main()
Main method for driver thread.
Definition: segwayrmp400.cc:268
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:166
Encapsulates a device (i.e., a driver bound to an interface)
Definition: device.h:75
uint8_t subtype
Message subtype; interface specific.
Definition: player.h:168
int ReadInt(int section, const char *name, int value)
Read an integer value.
void * GetPayload()
Get pointer to payload.
Definition: message.h:188
void ProcessMessages(void)
Process pending messages.
#define PLAYER_MSGTYPE_DATA
A data message.
Definition: player.h:95
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:285
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition: segwayrmp400.cc:197
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
void PutMsg(QueuePointer &resp_queue, uint8_t type, uint8_t subtype, void *src, size_t deprecated, double *timestamp)
Send a message to this device.
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:106
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
int HandlePosition2DCmd(player_position2d_cmd_vel_t *cmd)
Definition: segwayrmp400.cc:405
Class for loading configuration file information.
Definition: configfile.h:197
A device address.
Definition: player.h:146
An autopointer for the message queue.
Definition: message.h:74
void SetError(int code)
Set/reset error code.
Definition: driver.h:145
#define PLAYER_ERROR1(msg, a)
Definition: error.h:82
void ProcessData()
Definition: segwayrmp400.cc:421
#define PLAYER_ERROR(msg)
Definition: error.h:81
Base class for drivers which oeprate with a thread.
Definition: driver.h:553
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:170
uint32_t size
Size in bytes of the payload to follow.
Definition: player.h:174
Reference-counted message objects.
Definition: message.h:133
Message * Request(QueuePointer &resp_queue, uint8_t type, uint8_t subtype, void *src, size_t deprecated, double *timestamp, bool threaded=true)
Make a request of another device.
#define PLAYER_MSGTYPE_CMD
A command message.
Definition: player.h:99
Base class for all drivers.
Definition: driver.h:109
#define PLAYER_MSG0(level, msg)
General messages.
Definition: error.h:105
Definition: segwayrmp400.h:46
virtual int Unsubscribe(player_devaddr_t addr)
Unsubscribe from this driver.
player_msghdr_t * GetHeader()
Get pointer to header.
Definition: message.h:186
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:164
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:76
int HandlePosition3DCmd(player_position3d_cmd_vel_t *cmd)
Definition: segwayrmp400.cc:390